Trajectory Planning for Non-Holonomic Mobile Robots with Timed Elastic Bands

Trajectory planning has recently gained importance in the mobile robot community as a motion planning strategy to solve the problem of guiding the robot from a initial location to a target location in an environment with static or dynamic obstacles. This thesis is concerned with the timed elastic ba...

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Detalles Bibliográficos
Autor Principal: Navarro Pérez, Álvaro Andrés
Formato: Trabajo de grado (Bachelor Thesis)
Lenguaje:Desconocido (Unknown)
Publicado: 2015
Materias:
Acceso en línea:http://babel.banrepcultural.org/cdm/ref/collection/p17054coll23/id/997
Descripción
Sumario:Trajectory planning has recently gained importance in the mobile robot community as a motion planning strategy to solve the problem of guiding the robot from a initial location to a target location in an environment with static or dynamic obstacles. This thesis is concerned with the timed elastic band approach and model predictive control to find the optimal trajectories subject to a differential constraints of a non-holonomic platform. The objective of this thesis is to augment the timed elastic band approach to general kinematics such as the mobile robots with differential drive, the car-like systems and the truck and trailer systems in specific environments. Several cost functions are evaluated to task of obstacle avoidance. For each kinematic, the metrics of traveling time starting from a fixed initial position to a goal location as well as the traversed distance between those states are evaluated. This thesis concludes with a comparative analysis of timed elastic bands with the robot motion planning approach RRT (Rapidly-exploration random tree).